#ifndef __SENSOR_HANDLE_NODE_H__
#define __SENSOR_HANDLE_NODE_H__

#include <mc_ros/sensors/sensor_config.h>
#include <mc_ros/sensors/sensor_handle.h>

class PerceptionHandle{
    public:
        PerceptionHandle();
        ~PerceptionHandle() = default;

        // 实时处理
        void loop();

    private:
        ros::NodeHandle nh_;
        ros::Publisher lidar_fusion_pub_;           //激光雷达融合发布
        ros::Publisher depth_fusion_pub_;           //深度点云融合发布
        ros::Publisher all_fusion_pub_;
        ros::Publisher all_bev_fusion_pub_;

        std::shared_ptr<SensorConfig> sensor_config_ptr_;
        std::shared_ptr<SensorHandle> sensor_handle_ptr_;
};

#endif